Three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot

A technology with impact resistance and degrees of freedom, applied in the field of humanoid robots, can solve problems such as damage, less freedom of mechanical foot movement, lack of impact resistance, etc., and achieve the effect of reasonable structure, accurate movement posture and mechanical characteristics

Active Publication Date: 2016-06-15
CHANGZHOU XIAOGUO INFORMATION SERVICES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the humanoid robot structure, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, a certain impact force will be generated, which will cause

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  • Three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot

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Embodiment Construction

[0013] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0014] see figure 1 As shown, the three-degree-of-freedom parallel anti-impact humanoid mechanical foot of the present invention includes a mechanical shank 1, a tarsal bar 2, a metatarsal bar 3, a toe 4, a tarsal impact pad 5, a tarsal spring 6, an arched foot plate 13, Foot back 7, metatarsal spring A8, rubber post A9 and rubber post B16; mechanical shank 1 links to each other with tarsal bar 2 through ankle hinge 10, and one end of tarsal bar 2 links to each other with an end of tarsal bar 3 through tarsal hinge 20.

[0015] see figure 1 As shown, the other end of the metatarsal rod 3 is connected to the toe 4 through the toe joint 30; the two ends of the arched sole plate 13 are connected to the two ends of the metatarsal plate 3 through the metatarsal spring A14 and the metatarsal spring B15 respectively; The upper spring A8 an...

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Abstract

The invention discloses a three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot and belongs to the field of humanoid robots. The three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot comprises a mechanical shank, a tarsal bone rod, a metatarsal bone rod, a toe, a tarsal bone impact pad, a tarsal bone spring, an arch-shaped sole plate, an instep face, a metatarsal bone upper spring A, a rubber column A and a rubber column B. The mechanical shank is connected with the tarsal bone rod through an ankle hinge. The two ends of the arch-shaped sole plate are connected with the two ends of a metatarsal bone plate through a metatarsal bone lower spring A and a metatarsal bone lower spring B correspondingly. The instep face is connected with the upper portion of the metatarsal bone rod through the metatarsal bone upper spring A and a metatarsal bone upper spring B. The tarsal bone impact pad is arranged at the bottom of the tarsal bone rod. The toe is connected with the left end of the instep face through a toe spring. The arch-shaped sole plate is an upward-convex type elastic thin plate. The two ends of the arch-shaped sole plate and the tarsal bone impact pad are in the same horizontal plane. The three-degrees-of-freedom parallel-connection impact-resistant humanoid mechanical foot is a parallel-connection mode humanoid robot foot which is reasonable in structure and has three degrees of freedom of motion and impact resistance.

Description

technical field [0001] The invention mainly relates to the field of humanoid robots, in particular to a three-degree-of-freedom parallel anti-impact humanoid mechanical foot. Background technique [0002] With the development of science and technology and the improvement of people's quality of life, humanoid robots have received widespread attention and become one of the most active hot spots in the field of intelligent robots. In the humanoid robot structure, the design of the mechanical foot is particularly important, because when the humanoid robot walks, when the foot touches the ground, a certain impact force will be generated, which will cause the robot to lose balance or destroy the control system. . Existing humanoid robots have less degree of freedom of mechanical foot movement, which makes it difficult to truly simulate human foot walking, and lacks certain impact resistance. Therefore, it is of great significance to design a mechanical foot with more freedom of ...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 班书昊蒋学东李晓艳何云松席仁强徐然
Owner CHANGZHOU XIAOGUO INFORMATION SERVICES
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